AR_Manipulator

This is the Repo for the Augumented Reality project for the UR5 arm organized by E-Yantra

Please follow the steps to setup the project.

This package is tested on Ubuntu 18, ROS-Melodic. We recommend you to use this OS and ROS distribution only.

Installation

ROS installation

• Follow the Official Installation instruction from the ROS-Melodic website. We recommend to use the following command for step 1.4. This will ensure all the basic package availability and possibly avoid any "missing packages" errors.

sudo apt install ros-melodic-desktop-full

Creating a Catkin Workspace

Go to your home direcory and type the following command in the terminal

mkdir -p catkin_ws/src
cd catkin_ws 
catkin_make && source devel/setup.bash

you can also add source ~/catkin_ws/devel/setup.bash at the bottom of your .bashrc in the home direcory if you want to source the the workspace by defualt

Cloning this repository

Inside your cakin_ws/src, enter the following command to clone (download) this repository.

https://github.com/namikxgithub/ar_mainpulator.git

Additional Packages

you need to install some dependencies and packges like Moveit! and rosbridge for the project to work

sudo apt-get update && sudo apt-get upgrade
sudo apt-get install python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher
sudo -H pip install rospkg jsonpickle

After installing all the packages go to the workspace and do catkin_make again and you are good to go!

Run the project

All set! now we can proceed with the excution part...

• First launch the UR5_AR app in your android device or enter the playmode if you are using the unity editor.
• After that launch the ar_test launch file in the ebot_description package. This can be launched by the following command.

roslaunch ebot_mani ar_test.launch

This will launch the UR5 arm in Rviz and Gazebo A TCP Server will start on the ROS running device to communicate with the AR app. The joint angles are published on the SourceDestination topic which are subscribed by the arm_joint_angle.pyscript in the ebot_mani package to move the arm accordingly in gazebo using moveit!

Alright! Now you can fiddle around with the joint angles in the AR app and hit publish and you will see that the Arm moves in gazbo like you set in the APP Have Fun!